[bug] After starting the camera, the image is blue screen within 10s, and the image is displayed normally after 10s.

[zymouse]

work out in advance

• branch: ros2
• commit: c052be0

rendering

[flynneva]

@zymouse could you give more info here like what format you're using, frame rate, etc. and then maybe some commands to reproduce?

[zymouse]

@flynneva
"video_device": "/dev/video4",
"framerate": 30.0,
"io_method": "mmap",
"frame_id": "camera_front_link",
"pixel_format": "uyvy2rgb",
"image_width": 1920 ,
"image_height": 1080,
"camera_name": "camera_front",
"camera_info_url": "file://${ROS_HOME}/../pix/parameter/sensor_kit/robobus_sensor_kit_description/intrinsic_parameters/,.yaml",
# reusing same camera intrinsics only for demo, should really be unique for camera2"
"brightness": -1,
"contrast": -1,
"saturation": -1,
"sharpness": -1,
"gain": -1,
"auto_white_balance": True,
"white_balance": 4000,
"autoexposure": True,
"exposure": 100,
"autofocus": False,
"focus": -1,

[flynneva]

@zymouse could you try again with the latest usb_cam ros2 branch? It should help you choose a properly supported pixel format for the camera you have and might fix your issue here

[flynneva]

@zymouse also if you want to visualize the images in rqt I recommend using one of the '2rgb' pixel formats so the published format is compatible with rqt

[zymouse]

@flynneva
Thank you very much for your answer: the pixel format I chose is correct, and after starting the usb_cam node, I need to wait for about 5s before the image is converted from a blue screen to a normal image result. This doesn't affect the usage, this issue can be closed now

[zymouse]

@flynneva Hello. Long time no see.
updates：
commit：501af3d428513b2fd520b7a087ba5774b4d6181d
branch: ros2

        "video_device": "/dev/video0",
        "framerate": 30.0,
        "io_method": "mmap",
        "frame_id": "test_camera",
        "pixel_format": "uyvy2rgb",  
        "image_width": 1920,
        "image_height": 1080,
        "camera_name": "test_camera",
        # reusing same camera intrinsics only for demo, should really be unique for camera2"
        "camera_info_url": "file:///test/camera_info_3mm.yaml",
        "brightness": -1,
        "contrast": -1,
        "saturation": -1,
        "sharpness": -1,
        "gain": -1,
        "auto_white_balance": True,
        "white_balance": 4000,
        "autoexposure": True,
        "exposure": 100,
        "autofocus": False,
        "focus": -1,

Startup will be blue screen for a period of time, during the blue screen, cpu usage is 100
After the blue screen ends, the image returns to normal, and the cpu usage returns to normal.